void CustomPlayerController::Init(dFloat mass, dFloat outerRadius, dFloat innerRadius, dFloat height, dFloat stairStep, const dMatrix& localAxis) { dAssert (stairStep >= 0.0f); dAssert (innerRadius >= 0.0f); dAssert (outerRadius >= innerRadius); dAssert (height >= stairStep); dAssert (localAxis[0].m_w == dFloat (0.0f)); dAssert (localAxis[1].m_w == dFloat (0.0f)); CustomPlayerControllerManager* const manager = (CustomPlayerControllerManager*) GetManager(); NewtonWorld* const world = manager->GetWorld(); SetRestrainingDistance (0.0f); m_outerRadio = outerRadius; m_innerRadio = innerRadius; m_height = height; m_stairStep = stairStep; SetClimbSlope(45.0f * 3.1416f/ 180.0f); m_upVector = localAxis[0]; m_frontVector = localAxis[1]; m_groundPlane = dVector (0.0f, 0.0f, 0.0f, 0.0f); m_groundVelocity = dVector (0.0f, 0.0f, 0.0f, 0.0f); const int steps = 12; dVector convexPoints[2][steps]; // create an inner thin cylinder dFloat shapeHigh = height; dAssert (shapeHigh > 0.0f); dVector p0 (0.0f, m_innerRadio, 0.0f, 0.0f); dVector p1 (shapeHigh, m_innerRadio, 0.0f, 0.0f); for (int i = 0; i < steps; i ++) { dMatrix rotation (dPitchMatrix (i * 2.0f * 3.141592f / steps)); convexPoints[0][i] = localAxis.RotateVector(rotation.RotateVector(p0)); convexPoints[1][i] = localAxis.RotateVector(rotation.RotateVector(p1)); } NewtonCollision* const supportShape = NewtonCreateConvexHull(world, steps * 2, &convexPoints[0][0].m_x, sizeof (dVector), 0.0f, 0, NULL); // create the outer thick cylinder dMatrix outerShapeMatrix (localAxis); dFloat capsuleHigh = m_height - stairStep; dAssert (capsuleHigh > 0.0f); m_sphereCastOrigin = capsuleHigh * 0.5f + stairStep; outerShapeMatrix.m_posit = outerShapeMatrix[0].Scale(m_sphereCastOrigin); outerShapeMatrix.m_posit.m_w = 1.0f; NewtonCollision* const bodyCapsule = NewtonCreateCapsule(world, 0.25f, 0.5f, 0, &outerShapeMatrix[0][0]); NewtonCollisionSetScale(bodyCapsule, capsuleHigh, m_outerRadio * 4.0f, m_outerRadio * 4.0f); // compound collision player controller NewtonCollision* const playerShape = NewtonCreateCompoundCollision(world, 0); NewtonCompoundCollisionBeginAddRemove(playerShape); NewtonCompoundCollisionAddSubCollision (playerShape, supportShape); NewtonCompoundCollisionAddSubCollision (playerShape, bodyCapsule); NewtonCompoundCollisionEndAddRemove (playerShape); // create the kinematic body dMatrix locationMatrix (dGetIdentityMatrix()); m_body = NewtonCreateKinematicBody(world, playerShape, &locationMatrix[0][0]); // players must have weight, otherwise they are infinitely strong when they collide NewtonCollision* const shape = NewtonBodyGetCollision(m_body); NewtonBodySetMassProperties(m_body, mass, shape); // make the body collidable with other dynamics bodies, by default NewtonBodySetCollidable (m_body, true); dFloat castHigh = capsuleHigh * 0.4f; dFloat castRadio = (m_innerRadio * 0.5f > 0.05f) ? m_innerRadio * 0.5f : 0.05f; dVector q0 (0.0f, castRadio, 0.0f, 0.0f); dVector q1 (castHigh, castRadio, 0.0f, 0.0f); for (int i = 0; i < steps; i ++) { dMatrix rotation (dPitchMatrix (i * 2.0f * 3.141592f / steps)); convexPoints[0][i] = localAxis.RotateVector(rotation.RotateVector(q0)); convexPoints[1][i] = localAxis.RotateVector(rotation.RotateVector(q1)); } m_castingShape = NewtonCreateConvexHull(world, steps * 2, &convexPoints[0][0].m_x, sizeof (dVector), 0.0f, 0, NULL); m_supportShape = NewtonCompoundCollisionGetCollisionFromNode (shape, NewtonCompoundCollisionGetNodeByIndex (shape, 0)); m_upperBodyShape = NewtonCompoundCollisionGetCollisionFromNode (shape, NewtonCompoundCollisionGetNodeByIndex (shape, 1)); NewtonDestroyCollision (bodyCapsule); NewtonDestroyCollision (supportShape); NewtonDestroyCollision (playerShape); m_isJumping = false; }
static void MakeFunnyCompound (DemoEntityManager* const scene, const dVector& origin) { NewtonWorld* const world = scene->GetNewton(); // create an empty compound collision NewtonCollision* const compound = NewtonCreateCompoundCollision (world, 0); #if 1 NewtonCompoundCollisionBeginAddRemove(compound); // add a bunch of convex collision at random position and orientation over the surface of a big sphere float radio = 5.0f; for (int i = 0 ; i < 300; i ++) { NewtonCollision* collision = NULL; float pitch = RandomVariable (1.0f) * 2.0f * 3.1416f; float yaw = RandomVariable (1.0f) * 2.0f * 3.1416f; float roll = RandomVariable (1.0f) * 2.0f * 3.1416f; float x = RandomVariable (0.5f); float y = RandomVariable (0.5f); float z = RandomVariable (0.5f); if ((x == 0.0f) && (y == 0.0f) && (z == 0.0f)){ x = 0.1f; } dVector p (x, y, z, 1.0f) ; p = p.Scale (radio / dSqrt (p % p)); dMatrix matrix (dPitchMatrix (pitch) * dYawMatrix (yaw) * dRollMatrix (roll)); matrix.m_posit = p; int r = dRand(); switch ((r >>2) & 3) { case 0: { collision = NewtonCreateSphere(world, 0.5, 0, &matrix[0][0]) ; break; } case 1: { collision = NewtonCreateCapsule(world, 0.3f, 0.2f, 0.5f, 0, &matrix[0][0]) ; break; } case 2: { collision = NewtonCreateCylinder(world, 0.25, 0.5, 0.25, 0, &matrix[0][0]) ; break; } case 3: { collision = NewtonCreateCone(world, 0.25, 0.25, 0, &matrix[0][0]) ; break; } } dAssert (collision); // we can set a collision id, and use data per sub collision NewtonCollisionSetUserID(collision, i); NewtonCollisionSetUserData(collision, (void*) i); // add this new collision NewtonCompoundCollisionAddSubCollision (compound, collision); NewtonDestroyCollision(collision); } // finish adding shapes NewtonCompoundCollisionEndAddRemove(compound); { // remove the first 10 shapes // test remove shape form a compound NewtonCompoundCollisionBeginAddRemove(compound); void* node = NewtonCompoundCollisionGetFirstNode(compound); for (int i = 0; i < 10; i ++) { //NewtonCollision* const collision = NewtonCompoundCollisionGetCollisionFromNode(compound, node); void* const nextNode = NewtonCompoundCollisionGetNextNode(compound, node); NewtonCompoundCollisionRemoveSubCollision(compound, node); node = nextNode; } // finish remove void* handle1 = NewtonCompoundCollisionGetNodeByIndex (compound, 30); void* handle2 = NewtonCompoundCollisionGetNodeByIndex (compound, 100); NewtonCollision* const shape1 = NewtonCompoundCollisionGetCollisionFromNode (compound, handle1); NewtonCollision* const shape2 = NewtonCompoundCollisionGetCollisionFromNode (compound, handle2); NewtonCollision* const copyShape1 = NewtonCollisionCreateInstance (shape1); NewtonCollision* const copyShape2 = NewtonCollisionCreateInstance (shape2); // you can also remove shape by their index NewtonCompoundCollisionRemoveSubCollisionByIndex (compound, 30); NewtonCompoundCollisionRemoveSubCollisionByIndex (compound, 100); handle1 = NewtonCompoundCollisionAddSubCollision (compound, copyShape1); handle2 = NewtonCompoundCollisionAddSubCollision (compound, copyShape2); NewtonDestroyCollision(copyShape1); NewtonDestroyCollision(copyShape2); NewtonCompoundCollisionEndAddRemove(compound); } { // show how to modify the children of a compound collision NewtonCompoundCollisionBeginAddRemove(compound); for (void* node = NewtonCompoundCollisionGetFirstNode(compound); node; node = NewtonCompoundCollisionGetNextNode(compound, node)) { NewtonCollision* const collision = NewtonCompoundCollisionGetCollisionFromNode(compound, node); // you can scale, change the matrix, change the inertia, do anything you want with the change NewtonCollisionSetUserData(collision, NULL); } NewtonCompoundCollisionEndAddRemove(compound); } // NewtonCollisionSetScale(compound, 0.5f, 0.25f, 0.125f); #else //test Yeside compound shape shape // - Rotation="1.5708 -0 0" Translation="0 0 0.024399" Size="0.021 0.096" Pos="0 0 0.115947" // - Rotation="1.5708 -0 0" Translation="0 0 0.056366" Size="0.195 0.024" Pos="0 0 0.147914" // - Rotation="1.5708 -0 0" Translation="0 0 -0.056366" Size="0.0065 0.07 Pos="0 0 0.035182" NewtonCompoundCollisionBeginAddRemove(compound); NewtonCollision* collision; dMatrix offsetMatrix (dPitchMatrix(1.5708f)); offsetMatrix.m_posit.m_z = 0.115947f; collision = NewtonCreateCylinder (world, 0.021f, 0.096f, 0, &offsetMatrix[0][0]) ; NewtonCompoundCollisionAddSubCollision (compound, collision); NewtonDestroyCollision(collision); offsetMatrix.m_posit.m_z = 0.035182f; collision = NewtonCreateCylinder (world, 0.0065f, 0.07f, 0, &offsetMatrix[0][0]) ; NewtonCompoundCollisionAddSubCollision (compound, collision); NewtonDestroyCollision(collision); offsetMatrix.m_posit.m_z = 0.147914f; collision = NewtonCreateCylinder (world, 0.195f, 0.024f, 0, &offsetMatrix[0][0]) ; NewtonCompoundCollisionAddSubCollision (compound, collision); NewtonDestroyCollision(collision); NewtonCompoundCollisionEndAddRemove(compound); #endif // for now we will simple make simple Box, make a visual Mesh DemoMesh* const visualMesh = new DemoMesh ("big ball", compound, "metal_30.tga", "metal_30.tga", "metal_30.tga"); int instaceCount = 2; dMatrix matrix (dGetIdentityMatrix()); matrix.m_posit = origin; for (int ix = 0; ix < instaceCount; ix ++) { for (int iz = 0; iz < instaceCount; iz ++) { dFloat y = origin.m_y; dFloat x = origin.m_x + (ix - instaceCount/2) * 15.0f; dFloat z = origin.m_z + (iz - instaceCount/2) * 15.0f; matrix.m_posit = FindFloor (world, dVector (x, y + 10.0f, z, 0.0f), 20.0f); ; matrix.m_posit.m_y += 15.0f; CreateSimpleSolid (scene, visualMesh, 10.0f, matrix, compound, 0); } } visualMesh->Release(); NewtonDestroyCollision(compound); }